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We present WidthFormer, a novel transformer-based module to compute Bird's-Eye-View (BEV) representations from multi-view cameras for real-time autonomous-driving applications.
Monocular 3d object detection for autonomous driving
Xiaozhi Chen, Kaustav Kundu, Ziyu Zhang, Huimin Ma, Sanja Fidler, and Raquel Urtasun · 2016
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Attention is All you Need
Ashish Vaswani, Noam Shazeer, Niki Parmar, Jakob Uszkoreit, Llion Jones, Aidan N Gomez, ukasz Kaiser, and Illia Polosukhin · 2017
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Deep learning based vehicle position and orientation estimation via inverse perspective mapping image
Youngseok Kim and Dongsuk Kum · 2019
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Fcos: Fully convolutional one-stage object detection
Zhi Tian, Chunhua Shen, Hao Chen, and Tong He · 2019
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Class-balanced grouping and sampling for point cloud 3d object detection
Benjin Zhu, Zhengkai Jiang, Xiangxin Zhou, Zeming Li, and Gang Yu · 2019
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nuscenes: A multimodal dataset for autonomous driving
Holger Caesar, Varun Bankiti, Alex H Lang, Sourabh Vora, Venice Erin Liong, Qiang Xu, Anush Krishnan, Yu Pan, Giancarlo Baldan, and Oscar Beijbom · 2020
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End-to-End Object Detection with Transformers
Nicolas Carion, Francisco Massa, Gabriel Synnaeve, Nicolas Usunier, Alexander Kirillov, and Sergey Zagoruyko · 2020
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MMDetection3D: OpenMMLab next-generation platform for general 3D object detection
MMDetection3D Contributors · 2020
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Learning depth-guided convolutions for monocular 3d object detection
Mingyu Ding, Yuqi Huo, Hongwei Yi, Zhe Wang, Jianping Shi, Zhiwu Lu, and Ping Luo · 2020
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Lift, splat, shoot: Encoding images from arbitrary camera rigs by implicitly unprojecting to 3d
Jonah Philion and Sanja Fidler · 2020
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Scalability in perception for autonomous driving: Waymo open dataset
Pei Sun, Henrik Kretzschmar, Xerxes Dotiwalla, Aurelien Chouard, Vijaysai Patnaik, Paul Tsui, James Guo, Yin Zhou, Yuning Chai, Benjamin Caine, et al · 2020
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Deformable detr: Deformable transformers for end-to-end object detection
Xizhou Zhu, Weijie Su, Lewei Lu, Bin Li, Xiaogang Wang, and Jifeng Dai · 2020
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Bevdet: High-performance multi-camera 3d object detection in bird-eye-view
Junjie Huang, Guan Huang, Zheng Zhu, and Dalong Du · 2021
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Fcos3d: Fully convolutional one-stage monocular 3d object detection
Tai Wang, Xinge Zhu, Jiangmiao Pang, and Dahua Lin · 2021
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Center-based 3d object detection and tracking
Tianwei Yin, Xingyi Zhou, and Philipp Krahenbuhl · 2021
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Efficient and robust 2d-to-bev representation learning via geometry-guided kernel transformer
Shaoyu Chen, Tianheng Cheng, Xinggang Wang, Wenming Meng, Qian Zhang, and Wenyu Liu · 2022
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Graph-detr3d: rethinking overlapping regions for multi-view 3d object detection
Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, and Feng Zhao · 2022
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Bevdet4d: Exploit temporal cues in multi-camera 3d object detection
Junjie Huang and Guan Huang · 2022
Cited alongside, same era.
BEVDistill: Cross-modal BEV distillation for multi-view 3d object detection
Zehui Chen, Zhenyu Li, Shiquan Zhang, Liangji Fang, Qinhong Jiang, and Feng Zhao · 2023
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On-chip hyperspectral image segmentation with fully convolutional networks for scene understanding in autonomous driving
Jon Gutiérrez-Zaballa, Koldo Basterretxea, Javier Echanobe, M. Victoria Martínez, Unai Martinez-Corral, Óscar Mata-Carballeira, and Inés del Campo · 2023
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Polarformer: Multi-camera 3d object detection with polar transformers
Yanqin Jiang, Li Zhang, Zhenwei Miao, Xiatian Zhu, Jin Gao, Weiming Hu, and Yu-Gang Jiang · 2023
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Fast-bev: A fast and strong bird’s-eye view perception baseline
Yangguang Li, Bin Huang, Zeren Chen, Yufeng Cui, Feng Liang, Mingzhu Shen, Fenggang Liu, Enze Xie, Lu Sheng, Wanli Ouyang, et al · 2023
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Petrv2: A unified framework for 3d perception from multi-camera images
Yingfei Liu, Junjie Yan, Fan Jia, Shuailin Li, Qi Gao, Tiancai Wang, Xiangyu Zhang, and Jian Sun · 2023
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Bevdepth: Acquisition of reliable depth for multi-view 3d object detection
Yinhao Li, Zheng Ge, Guanyi Yu, Jinrong Yang, Zengran Wang, Yukang Shi, Jianjian Sun, and Zeming Li · 2022
Cited alongside, same era.
Bevformer: Learning bird’s-eye-view representation from multi-camera images via spatiotemporal transformers
Zhiqi Li, Wenhai Wang, Hongyang Li, Enze Xie, Chonghao Sima, Tong Lu, Qiao Yu, and Jifeng Dai · 2022
Cited alongside, same era.
Sparse4d: Multi-view 3d object detection with sparse spatial-temporal fusion
Xuewu Lin, Tianwei Lin, Zixiang Pei, Lichao Huang, and Zhizhong Su · 2022
Cited alongside, same era.
Petr: Position embedding transformation for multi-view 3d object detection
Yingfei Liu, Tiancai Wang, Xiangyu Zhang, and Jian Sun · 2022
Cited alongside, same era.
Probabilistic and geometric depth: Detecting objects in perspective
Tai Wang, ZHU Xinge, Jiangmiao Pang, and Dahua Lin · 2022
Cited alongside, same era.
Detr3d: 3d object detection from multi-view images via 3d-to-2d queries
Yue Wang, Vitor Campagnolo Guizilini, Tianyuan Zhang, Yilun Wang, Hang Zhao, and Justin Solomon · 2022
Cited alongside, same era.
Cross-view transformers for real-time map-view semantic segmentation
Brady Zhou and Philipp Krähenbühl · 2022
Cited alongside, same era.
Later among the works it cites.
Bevfusion: Multi-task multi-sensor fusion with unified bird’s-eye view representation
Zhijian Liu, Haotian Tang, Alexander Amini, Xingyu Yang, Huizi Mao, Daniela Rus, and Song Han · 2023
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Horizon Robotics Journey
Horizon Robotics · 2023
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3d point positional encoding for multi-camera 3d object detection transformers
Changyong Shu, Fisher Yu, and Yifan Liu · 2023
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Exploring object-centric temporal modeling for efficient multi-view 3d object detection
Shihao Wang, Yingfei Liu, Tiancai Wang, Ying Li, and Xiangyu Zhang · 2023
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Cape: Camera view position embedding for multi-view 3d object detection
Kaixin Xiong, Shi Gong, Xiaoqing Ye, Xiao Tan, Ji Wan, Errui Ding, Jingdong Wang, and Xiang Bai · 2023
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Bevformer v2: Adapting modern image backbones to bird’s-eye-view recognition via perspective supervision
Chenyu Yang, Yuntao Chen, Hao Tian, Chenxin Tao, Xizhou Zhu, Zhaoxiang Zhang, Gao Huang, Hongyang Li, Yu Qiao, Lewei Lu, et al · 2023
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Matrixvt: Efficient multi-camera to bev transformation for 3d perception
Hongyu Zhou, Zheng Ge, Zeming Li, and Xiangyu Zhang · 2023
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